Mars Rover Project

D. H. SchwartzO. A. MartinezK. R. Lewelling (PI)University of Arkansas – Fort Smith

Rover chassis built by Harding University

+/- 15 V Power Supplies

Motor Drive Circuit

/*Code to DEMO ROVER

SIGNAL AND PORT CONNECTIONS:PT7 PT6 PT5 PT4 PT3 PT2 PT1 PT0PB7 PB6 PB5 PB4 PB3 PB2 PB1 PB0 | | | | | | | |GND 5V CS CSDIS ENB INB INA ENA*/#include <hidef.h> /* common defines and macros */#include <mc68hc912d60.h> /* derivative information */#include <stdlib.h>

int x;int y;int z;void main(void);void MSDelay(unsigned int itime);void Forward(unsigned int DTY);void Reverse(unsigned int DTY);void TurnRight(void);void TurnLeft(void);void Brake(unsigned int DTY1, unsigned int DTY3);void Stop(void);

Rover Code

void main(void) { COPCTL = 0x08;PWPOL = 0xEF; /* Pulse clock select and polarity, REG 0041*/PWPER1 = 0x65; /* Sets period for PWM bit 1, REG 004D*/PWPER3=0x65; /* Sets period for PWM bit 3*/ PWSCAL0 = 0x06; /* Used for PWM channels 0 and 1, allows selection of clock S0, REG 0045*/PWSCAL1 = 0x06 ;PCKA0=0; //clock A for channels 0 and 1PCKA1 =1 ;PCKA2 =1;PCKB0 =0; // clock B for channel 2 and 3PCKB1 =1; PCKB2 =1;PWEN = 0x0F; /* Enables PWM bit 1 and bit 3 REG 0042*/ DDRT = 0xFF; /*Enables PORT T*/DDRB =0xFF; /*Enables PORT B*/PORTT=0x7F; /*Rover is Brake*/PORTB=0x7F; /*Rover is Brake*/

Stop();Forward(30);Brake(PWDTY1,PWDTY3);Stop();Reverse(30);Brake(PWDTY1,PWDTY3);Stop();TurnRight();Brake(PWDTY1,PWDTY3);Stop();TurnLeft(); Brake(PWDTY1,PWDTY3);Stop();

Rover with New Arm

Rover Lower and Upper ArmLower Arm

Upper Arm

Rover Arm Fully Extended

Next Steps

• Mount arm on rover• Develop gripping mechanism• Develop drilling attachment• Add machine vision (MV)• Program autonomous guidance using MV• Add IR spectrometer

Acknowledgements

• NASA• Arkansas Space Grant Consortium • Ken Gibson – ABB Baldor • Kevin Lewelling – University of Arkansas Ft. Smith• Osman Martinez –University of Arkansas Ft. Smith• Edmond Wilson – Harding University• University of Arkansas Fort Smith• Harding University